A heavy-duty double-crank cycloidal pinwheel robot reducer

Abstract

This invention discloses a heavy-duty double-crank cycloidal pinwheel robot reducer, relating to the field of reducer technology. It includes a base, a high-speed shaft, and a low-speed shaft. A protective mechanism is provided above the top of the base. The protective mechanism includes a pin tooth housing, with a balance wheel mechanism on the inner sidewall and a pin mechanism on the sidewall. This invention achieves rapid connection between the positioning component and the positioning component, improving the portability of the assembly of the moving component and the balance wheel assembly. The movable component is fitted inside the positioning component, aligning the arc-shaped locking block with the sliding groove. The sliding groove compresses the arc-shaped locking block outwards. The arc-shaped locking block, via a connecting rod, moves the outer ring towards the center of the positioning hole, thus removing the eccentric positioning hole from limiting the movable component. The arc-shaped locking block slides to the positioning groove position, and the outer ring, under the action of a spring, moves back to be concentric with the inner ring, making the entire movable component concentric with the positioning component. This achieves rapid connection between the positioning component and the movable component with the positioning hole, improving the portability of assembling the movable component and the balance wheel assembly.

Description

Technical Field

[0001] This invention relates to the field of speed reducer technology, specifically a heavy-duty double-crank cycloidal pinwheel robot speed reducer. Background Technology

[0002] The cycloidal pinwheel reducer is a novel transmission device that applies the planetary transmission principle and employs cycloidal pin gear meshing. The entire transmission mechanism of the cycloidal pinwheel reducer can be divided into three parts: the input section, the reduction section, and the output section. A double eccentric sleeve with a 180° offset is mounted on the input shaft. Two roller bearings, called rotating arms, are mounted on the eccentric sleeve, forming an internal meshing reduction mechanism with a one-tooth tooth difference.

[0003] In the prior art, such as the Chinese patent application CN115264005A entitled "A Double Cycloidal Gear Reducer", a hollow central shaft and two axially distributed eccentric journals are included. The two eccentric journals are arranged 180° circumferentially. Cycloidal wheel I, which meshes with internal gear I, and cycloidal wheel II, which meshes with internal gear II, are respectively mounted on the two eccentric journals. Multiple fan-shaped protruding pins are provided on the side of cycloidal wheel II opposite to cycloidal wheel I. The multiple protruding pins on cycloidal wheel I and the multiple protruding pins on cycloidal wheel II are staggered, and the protruding pins on cycloidal wheel I are located in the gap between adjacent protruding pins on cycloidal wheel II. Thus, the included angle between the tooth diameter lines of cycloidal wheel II and cycloidal wheel I remains unchanged as the crankshaft rotates.

[0004] However, in the existing technology, the reduction section is composed of two eccentric crank cycloidal pinwheels and a transmission pin of the reduction section. The transmission pin is connected to the eccentric position of the two crank cycloidal pinwheels respectively. In order to ensure that the transmission speed of the transmission pin is the same as the deflection speed of the crank cycloidal pinwheel under heavy load, the side wall of the transmission pin is tightly fitted with the inner side wall of the eccentric position of the cycloidal pinwheel. These two misaligned tight fits are very inconvenient to install, increase the assembly difficulty of the reducer, and are not conducive to subsequent reducer maintenance. Summary of the Invention

[0005] The purpose of this invention is to provide a heavy-duty double-crank cycloidal pinwheel robot reducer to solve the problem mentioned in the background art, where the reduction section is composed of two eccentric crank cycloidal pinwheels connected to a transmission pin of the reduction section. The transmission pin is connected to the eccentric position of each of the two crank cycloidal pinwheels. In order to ensure that the transmission speed of the transmission pin is the same as the deflection speed of the crank cycloidal pinwheel under heavy load, the side wall of the transmission pin is tightly fitted to the inner side wall of the eccentric position of the cycloidal pinwheel. These two misaligned tight fits are very inconvenient to install, increasing the assembly difficulty of the reducer and hindering subsequent reducer maintenance.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a heavy-duty double-crank cycloidal pinwheel robot reducer, comprising a base, a high-speed shaft, and a low-speed shaft. A protective mechanism is provided above the top of the base. The protective mechanism includes a pin tooth shell. A swivel wheel mechanism is provided on the inner side wall of the pin tooth shell. A shaft pin mechanism is provided on the side wall of the pin tooth shell. The shaft pin mechanism includes a rotating disk. The outer side wall of the rotating disk is rotatably connected to the pin tooth shell. Multiple positioning components are provided on the side of the rotating disk. Two movable components are slidably sleeved on the outer side wall of each positioning component. Each positioning component includes a positioning rod. Sliding grooves are provided on the outer side walls of both ends of the positioning rod. A positioning groove is provided at one end of the positioning rod located in the sliding groove. In use, the multiple positioning components on the side wall of the rotating disk are inserted into the multiple positioning holes on the crank pinwheel. The two crank pinwheels are staggered. When the movable component with a larger outer diameter is directly sleeved into the positioning hole at the position of the two crank pinwheels, the effective diameter of the interaction between the two positioning holes is small, making the sleeve difficult.

[0007] The movable component includes an inner ring, an outer ring is provided on the outside of the inner ring, a spring is fixedly connected between the inner wall of the outer ring and the outer wall of the inner ring, a connecting rod is rotatably connected to the inner wall of the outer ring, one end of the connecting rod passes through the inner wall of the inner ring and is fixedly connected to an arc-shaped locking block, the arc-shaped locking block is slidably connected to the inner wall of the slide groove, and side sealing plates are rotatably connected to both outer walls of the outer ring.

[0008] Preferably, one end of the positioning rod has a connecting screw hole, and the inner side wall of the connecting screw hole is threaded with a positioning pin. One end of the positioning pin is fixedly connected to a positioning cover, and the side wall of the positioning cover is fixedly connected to the side wall of the rotating disk. In use, the two balance wheel assemblies drive the movable assembly to rotate, which in turn drives the rotating disk to rotate. The positioning rod is movably connected to the rotating disk through the positioning cover. When it is necessary to install the balance wheel assembly closer to the rotating disk, the positioning rod is screwed in, thereby disengaging the positioning rod from the positioning cover, which facilitates the installation of the positioning hole. After installation, the positioning pin is directly screwed into the connecting screw hole to connect the rotating disk and the balance wheel assembly.

[0009] Preferably, the balance wheel mechanism includes an eccentric shaft assembly, and two balance wheel assemblies are provided on the outer side wall of the eccentric shaft assembly. Each balance wheel assembly includes a crank pinwheel, and a positioning hole is provided on the side wall of the crank pinwheel. A rotation hole is provided at the center of the side wall of the crank pinwheel. The balance wheel mechanism has two balance wheel assemblies. When the high-speed shaft drives the balance wheel mechanism to rotate, the two balance wheel assemblies become eccentric at one end. The balance wheel assembly rotates through the outer limiting post, causing the crank pinwheel to drive the rotating disk to rotate through the positioning hole. The rotation hole is located at the center of the crank pinwheel, which facilitates the eccentric rotation of the crank pinwheel.

[0010] Preferably, a cover is fixedly connected to the side wall of the crank pinwheel, and an installation assembly is provided inside the crank pinwheel. The installation assembly includes a threaded cylinder, one side of which is fixedly connected to the crank pinwheel. The crank pinwheel is a housing with one side opening, and the opening is sealed by the cover. The cover is movably connected to the crank pinwheel by a countersunk screw, which facilitates opening the inside of the crank pinwheel, thereby facilitating the connection of the connecting assembly to the crank pinwheel.

[0011] Preferably, the inner wall of the threaded cylinder is threaded with countersunk screws, the cover is fixedly connected to the crank pinwheel by the countersunk screws, and a connecting assembly is provided between the two balance wheel assemblies. The connecting assembly includes a double-ended lead screw, and the two crank pinwheels with misaligned centers are connected by the connecting assembly. The double-ended lead screw is a column with external threads at both ends, which facilitates the limiting and locking of the crank pinwheels on both sides.

[0012] Preferably, both ends of the double-ended lead screw are threadedly connected to a threaded platform. The inner sidewall of the threaded platform is rotatably connected to a second limiting ring, and the outer sidewall of the threaded platform is rotatably connected to a first limiting ring. Both the second and first limiting rings are fixedly connected to the cover. The threaded platform is a frustum with an internal thread in the middle. The outer diameter of the bottom end of the threaded platform is greater than the sum of the distances between the first and second limiting rings, thereby limiting the threaded platform to the first and second limiting rings. The top end of the threaded platform is located between the first and second limiting rings. The first and second limiting rings are at the same center, which is the same as the rotation center of the high-speed shaft, ensuring the stability of the connection.

[0013] Preferably, the inner sidewall of the needle tooth housing is provided with a circular groove, and a limiting post is fixedly connected to the inner sidewall of the circular groove. The outer circle of the crank pinwheel is recessed inward to form a plum blossom-shaped structure. By providing a limiting post on the inner sidewall of the needle tooth housing, when the two crank pinwheels rotate eccentrically, the outer side of the eccentric crank pinwheel is limited by the limiting post.

[0014] Preferably, the eccentric shaft assembly includes a first inner pin, a second inner pin fixedly connected to the side wall of the first inner pin, a first outer wheel rotatably connected between the first inner pin and the rotating hole, and a second outer wheel rotatably connected between the second inner pin and the rotating hole. One end of the high-speed shaft passes through the side wall of the pin tooth housing and is rotatably connected to the first inner pin. The center of the outer wall of the first inner pin corresponds to the center of a crank pin wheel, and the center of the outer wall of the second inner pin corresponds to the circle of another crank pin wheel. The centers of the inner walls of the first and second inner pins do not correspond to the outer centers, but correspond to the rotation axis of the high-speed shaft, so that both the first and second inner pins can cause the crank pin wheel to rotate eccentrically.

[0015] Preferably, a connecting seat is fixedly connected to the inner sidewall of each of the two side sealing plates, and a rotating rod is fixedly connected between the inner sidewalls of the two connecting seats. The outer sidewall of the rotating rod is fixedly connected to the outer sidewall of the connecting rod. A damper is provided inside the spring, and a deep annular groove is opened on the outer side of the outer ring. The rotating rod is connected to the inner sidewall of the connecting rod, and the two ends of the rotating rod are respectively connected to the side sealing plates on both sides. By rotating the two side sealing plates in opposite directions, the side sealing plates drive the rotating rod to rotate, which in turn drives the connecting rod to rotate, which in turn drives the arc-shaped locking block to rotate. The arc-shaped locking block has an eighth-sphere structure, with two adjacent surfaces being arc surfaces and the other two surfaces being flat. When the arc-shaped locking block is pushed into the slide groove, the arc surface contacts the positioning groove. After locking with the positioning groove, the flat surface of the arc-shaped locking block is opposite to the positioning groove, achieving the effect of limiting locking. After rotating a certain angle, the arc surface of the arc-shaped locking block is opposite to the positioning groove, allowing the arc-shaped locking block to slide out of the slide groove, improving the portability of disassembling the movable component.

[0016] Preferably, a deep groove ball bearing is fixedly connected to the side wall of the rotating disk, a low-speed shaft is fixedly connected to the inner side wall of the deep groove ball bearing, a flange cover is rotatably connected to the outer side wall of the low-speed shaft, the side wall of the flange cover is fixedly connected to the side wall of the machine base, the bottom end of the pin tooth housing is fixedly connected to the machine base, the outer side wall of the outer ring is rotatably connected to the inner side wall of the positioning hole, and one end of the high-speed shaft is connected to the output end of the motor. After the motor drives the high-speed shaft to rotate at high speed, the high-speed shaft drives the eccentric shaft assembly to rotate at high speed, thereby causing the eccentric shaft assembly to drive the two balance wheel assemblies to rotate eccentrically. This causes the eccentric belt movable component of the two balance wheel assemblies to rotate, thereby causing the movable component to drive the rotating disk to rotate, thereby causing the rotating disk to drive the deep groove ball bearing to rotate, and thus causing the deep groove ball bearing to drive the low-speed shaft to rotate, achieving a deceleration effect.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. In this invention, by fitting the movable component inside the positioning component, the arc-shaped locking block is aligned with the sliding groove, causing the sliding groove to press the arc-shaped locking block outward. The arc-shaped locking block, through the connecting rod, drives the outer ring to move towards the center of the positioning hole, so that the eccentric positioning hole no longer limits the movable component. The arc-shaped locking block slides to the positioning groove position, and the outer ring, under the action of the spring, moves again to the inner ring concentrically, making the movable component concentric with the positioning component as a whole. This achieves the effect of quick connection between the positioning component and the movable component and the positioning hole, improving the portability of the assembly of the movable component and the balance wheel assembly, and facilitating the subsequent maintenance process of the reducer.

[0019] 2. In this invention, by rotating the two side sealing plates in opposite directions, the side sealing plates drive the rotating rod to rotate, which in turn drives the connecting rod to rotate, which in turn drives the arc-shaped locking block to rotate. After rotating a certain angle, the arc surfaces of the two adjacent arc surfaces of the arc-shaped locking block are aligned with the positioning groove, allowing the arc-shaped locking block to slide out of the groove, thus improving the portability of disassembling the movable components.

[0020] 3. In this invention, the high-speed shaft drives the eccentric shaft assembly to rotate at high speed, the eccentric shaft assembly drives the two balance wheel assemblies to rotate eccentrically, and the eccentric belt of the two balance wheel assemblies rotates at low speed, causing the movable component to rotate, causing the rotating disk to rotate, causing the rotating disk to rotate, causing the deep groove ball bearing to rotate, and causing the deep groove ball bearing to rotate, thus achieving the effect of deceleration, and transmitting the high-speed rotation of the high-speed shaft to the low-speed rotation of the low-speed shaft. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of a heavy-duty double-crank cycloidal pinwheel robot reducer according to the present invention;

[0022] Figure 2 This is a half-sectional schematic diagram of the overall structure of a heavy-duty double-crank cycloidal pinwheel robot reducer according to the present invention;

[0023] Figure 3 This is a schematic diagram of the shaft pin mechanism and the balance wheel assembly structure of a heavy-duty double-crank cycloidal pinwheel robot reducer according to the present invention;

[0024] Figure 4 for Figure 2 Enlarged view of the local structure at point A;

[0025] Figure 5 This is an exploded view of the balance wheel mechanism of a heavy-duty double-crank cycloidal pinwheel robot reducer according to the present invention;

[0026] Figure 6 This is a schematic diagram of the internal structure of the balance wheel assembly of a heavy-duty double-crank cycloidal pinwheel robot reducer according to the present invention;

[0027] Figure 7 This is a schematic diagram of the connecting component structure of a heavy-duty double-crank cycloidal pinwheel robot reducer according to the present invention;

[0028] Figure 8 This is a schematic diagram of the positioning and moving components of a heavy-duty double-crank cycloidal pinwheel robot reducer according to the present invention.

[0029] Figure 9 This is a side sectional view of the shaft pin mechanism structure of a heavy-duty double-crank cycloidal pinwheel robot reducer according to the present invention;

[0030] Figure 10This is an exploded view of the moving component structure of a heavy-duty double-crank cycloidal pinwheel robot reducer according to the present invention.

[0031] In the picture:

[0032] 1. Base; 2. High-speed shaft; 3. Protective mechanism; 31. Needle tooth housing; 32. Circular groove; 33. Limiting post; 4. Low-speed shaft; 5. Flange cover; 6. Deep groove ball bearing;

[0033] 7. Shaft pin mechanism; 71. Rotary disk; 72. Positioning assembly; 721. Positioning rod; 722. Positioning cover; 723. Slide groove; 724. Positioning pin; 725. Positioning slot; 726. Connecting screw hole;

[0034] 73. Moving component; 731. Outer ring; 732. Side sealing plate; 733. Inner ring; 734. Arc-shaped locking block; 735. Spring; 736. Connecting rod; 737. Connecting seat; 738. Rotating rod; 739. Damper;

[0035] 8. Balance wheel mechanism; 81. Eccentric shaft assembly; 811. First inner pin; 812. Second inner pin; 813. First outer wheel; 814. Second outer wheel;

[0036] 82. Balance wheel assembly; 821. Crank pinwheel; 822. Positioning hole; 823. Rotation hole; 83. Cover;

[0037] 84. Mounting assembly; 841. Threaded cylinder; 842. Countersunk screw; 85. Connecting assembly; 851. Threaded platform; 852. Double-ended lead screw; 853. First limiting ring; 854. Second limiting ring. Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] Reference Figure 1-10As shown: A heavy-duty double-crank cycloidal pinwheel robot reducer includes a base 1, a high-speed shaft 2, and a low-speed shaft 4. A protective mechanism 3 is provided above the top of the base 1. The protective mechanism 3 includes a pin tooth housing 31. A swivel wheel mechanism 8 is provided on the inner side wall of the pin tooth housing 31. A shaft pin mechanism 7 is provided on the side wall of the pin tooth housing 31. The shaft pin mechanism 7 includes a rotating disk 71. The outer side wall of the rotating disk 71 is rotatably connected to the pin tooth housing 31. Multiple positioning components 72 are provided on the side of the rotating disk 71. Two movable components 73 are slidably sleeved on the outer side wall of each positioning component 72. Component 72 includes a positioning rod 721. Both ends of the outer sidewall of the positioning rod 721 are provided with a sliding groove 723. The positioning rod 721 is provided with a positioning groove 725 at one end of the sliding groove 723. In use, multiple positioning components 72 on the sidewall of the rotating disk 71 are inserted into multiple positioning holes 822 on the crank pinwheel 821. The two crank pinwheels 821 are staggered with each other. When the movable component 73 with a larger outer diameter is directly sleeved into the positioning hole 822 at the position of the two crank pinwheels 821, the effective aperture of the two positioning holes 822 is small, and the sleeve is difficult.

[0040] The movable component 73 includes an inner ring 733, an outer ring 731 on the outer side of the inner ring 733, a spring 735 fixedly connected between the inner wall of the outer ring 731 and the outer wall of the inner ring 733, a connecting rod 736 rotatably connected to the inner wall of the outer ring 731, one end of the connecting rod 736 passing through the inner wall of the inner ring 733 and fixedly connected to an arc-shaped locking block 734, the arc-shaped locking block 734 slidably connected to the inner wall of the slide groove 723, and side sealing plates 732 rotatably connected to both outer walls of the outer ring 731. The movable component 733 needs to be... 3. When directly connecting to the positioning holes 822, first connect the positioning component 72 to the two positioning holes 822, with the positioning component 72 positioned eccentrically on both positioning holes 822, aligning the sliding groove 723 on the positioning rod 721 with the center of the positioning hole 822. The positioning rod 721 has two sliding grooves 723, aligning each of the two sliding grooves 723 with the two positioning holes 822 respectively. Then, connect the movable component 73 inside the positioning component 72, aligning the arc-shaped locking block 734 with the sliding groove 723. Due to the inner ring of the movable component 73, 733 is stabilized at the limit position. The outer ring 731 of the movable component 73 moves. When the arc-shaped locking block 734 is pressed against the slide groove 723, the slide groove 723 presses the arc-shaped locking block 734 outwards. This causes the arc-shaped locking block 734 to move the outer ring 731 towards the center of the positioning hole 822 via the connecting rod 736. This transforms the movable component 73 into an irregular ring, with its inner side concentric with the positioning component 72 and its outer side concentric with the positioning hole 822. This prevents the eccentric positioning hole 822 from limiting the movable component 73, allowing it to move along the slide groove 723. The trajectory of the sliding arc block 734 continues to slide, causing the arc block 734 to slide to the position of the positioning groove 725. The bottom of the positioning groove 725 is deeper, and multiple springs 735 are connected between the outer ring 731 and the inner ring 733. Under the action of the springs 735, the outer ring 731 moves again to be concentric with the inner ring 733, so that the moving component 73 is concentric with the positioning component 72. Thus, the positioning component 72 and the moving component 73 overlap with the positioning hole 822 at this position, improving the portability of assembling the moving component 73 and the balance wheel component 82.

[0041] according to Figure 8-10 As shown, one end of the positioning rod 721 has a connecting screw hole 726, and the inner side wall of the connecting screw hole 726 is threaded with a positioning pin 724. One end of the positioning pin 724 is fixedly connected to a positioning cover 722. The side wall of the positioning cover 722 is fixedly connected to the side wall of the rotating disk 71. In use, the two balance wheel assemblies 82 drive the movable assembly 73 to rotate, so that the movable assembly 73 and the positioning assembly 72 drive the rotating disk 71 to rotate. The positioning rod 721 is movably connected to the rotating disk 71 through the positioning cover 722. When it is necessary to install the balance wheel assembly 82 close to the side of the rotating disk 71, the positioning rod 721 is screwed in, so that the positioning rod 721 is disengaged from the positioning cover 722, which facilitates the installation of the positioning hole 822. After the installation is completed, the positioning pin 724 is directly screwed into the connecting screw hole 726 to connect the rotating disk 71 and the balance wheel assembly 82.

[0042] according to Figure 4-7 As shown, the balance wheel mechanism 8 includes an eccentric shaft assembly 81. Two balance wheel assemblies 82 are provided on the outer side wall of the eccentric shaft assembly 81. Each balance wheel assembly 82 includes a crank pinwheel 821. A positioning hole 822 is provided on the side wall of the crank pinwheel 821, and a rotation hole 823 is provided at the center of the side wall of the crank pinwheel 821. The balance wheel mechanism 8 has two balance wheel assemblies 82. When the high-speed shaft 2 drives the balance wheel mechanism 8 to rotate, the two balance wheel assemblies 82 are eccentric at one end. The balance wheel assembly 82 rotates through the outer limiting post 33, causing the crank pinwheel 821 to drive the rotating disk 71 to rotate through the positioning hole 822. The rotation hole 823 is located at the center of the crank pinwheel 821, which facilitates the eccentric rotation of the crank pinwheel 821. A cover 83 is fixedly connected to the side wall of the crank pinwheel 821. An installation assembly 84 is provided inside the crank pinwheel 821. The installation assembly 84 includes a threaded cylinder 841. One side of the threaded cylinder 841 is fixedly connected to the crank pinwheel 821. The crank pinwheel 821 is a housing with one side opening. The opening is sealed by the cover 83. The cover 83 is movably connected to the crank pinwheel 821 by a countersunk screw 842, which facilitates opening the inside of the crank pinwheel 821, thereby facilitating the connection of the connecting assembly 85 to the crank pinwheel 821.

[0043] according to Figure 4-7 As shown, the inner wall of the threaded cylinder 841 is threaded with countersunk screws 842. The cover 83 is fixedly connected to the crank pinwheel 821 by the countersunk screws 842. A connecting component 85 is provided between the two balance wheel assemblies 82. The connecting component 85 includes a double-ended lead screw 852. The two crank pinwheels 821 with misaligned centers are connected by the connecting component 85. The double-ended lead screw 852 is a column with external threads at both ends, which facilitates the limiting and locking of the crank pinwheels 821 on both sides. Both ends of the double-ended lead screw 852 are threadedly connected to threaded platforms 851. The inner side wall of the threaded platform 851 is rotatably connected to a second limiting ring 854, and the outer side wall of the threaded platform 851 is rotatably connected to a first limiting ring 853. Both the second limiting ring 854 and the first limiting ring 853 are fixedly connected to the cover 83. The threaded platform 851 is a frustum with an internal thread in the middle. The outer diameter of the bottom end of the threaded platform 851 is greater than the sum of the distances between the first limiting ring 853 and the second limiting ring 854, thereby limiting the threaded platform 851 to the first limiting ring 853 and the second limiting ring 854. The top end of the threaded platform 851 is located between the first limiting ring 853 and the second limiting ring 854. The first limiting ring 853 and the second limiting ring 854 are at the same center, which is the same as the rotation center of the high-speed shaft 2, ensuring the stability of the connection.

[0044] according to Figure 1 , Figure 2 and Figure 4-7As shown, a circular groove 32 is provided on the inner side wall of the needle tooth housing 31. A limiting post 33 is fixedly connected to the inner side wall of the circular groove 32. The outer circle of the crank pin wheel 821 is recessed inward to form a plum blossom-shaped structure. By providing a limiting post 33 on the inner side wall of the needle tooth housing 31, when the two crank pin wheels 821 rotate eccentrically, the outer side of the eccentric crank pin wheel 821 is limited by the limiting post 33. The eccentric shaft assembly 81 includes a first inner pin 811, a second inner pin 812 fixedly connected to the side wall of the first inner pin 811, a first outer wheel 813 rotatably connected between the first inner pin 811 and the rotating hole 823, and a second outer wheel 814 rotatably connected between the second inner pin 812 and the rotating hole 823. One end of the high-speed shaft 2 passes through the side wall of the pin tooth housing 31 and is rotatably connected to the first inner pin 811. The center of the outer wall of the first inner pin 811 corresponds to the center of a crank pin wheel 821, and the center of the outer wall of the second inner pin 812 corresponds to the circle of another crank pin wheel 821. The centers of the inner walls of the first inner pin 811 and the second inner pin 812 do not correspond to the outer centers, but correspond to the rotation axis of the high-speed shaft 2, so that both the first inner pin 811 and the second inner pin 812 can cause the crank pin wheel 821 to rotate eccentrically.

[0045] according to Figure 1 , Figure 2 and Figure 8-10As shown, connecting seats 737 are fixedly connected to the inner walls of both side sealing plates 732. A rotating rod 738 is fixedly connected between the inner walls of the two connecting seats 737. The outer wall of the rotating rod 738 is fixedly connected to the outer wall of the connecting rod 736. A damper 739 is provided inside the spring 735. A deep annular groove is opened on the outer side of the outer ring 731. The rotating rod 738 is connected to the inner wall of the connecting rod 736. The two ends of the rotating rod 738 are respectively connected to the side sealing plates 732 on both sides. By rotating the two side sealing plates 732 in opposite directions, the side sealing plates 732 drive the rotating rod 738 to rotate, thereby rotating the rotating rod 738. 38 drives the connecting rod 736 to rotate, thereby causing the connecting rod 736 to rotate the arc-shaped locking block 734. The arc-shaped locking block 734 is an eighth-sphere structure, with two adjacent surfaces being arc surfaces and the other two surfaces being flat. When the arc-shaped locking block 734 is pushed into the slide groove 723, the arc surface contacts the positioning groove 725. After engaging with the positioning groove 725, the flat surface of the arc-shaped locking block 734 is opposite to the positioning groove 725, achieving the effect of limiting engagement. After rotating a certain angle, the arc surface of the arc-shaped locking block 734 is aligned with the positioning groove 725, allowing the arc-shaped locking block 734 to slide outward from the slide groove 723, improving the portability of disassembling the movable component 73. A deep groove ball bearing 6 is fixedly connected to the side wall of the rotating disk 71. A low-speed shaft 4 is fixedly connected to the inner side wall of the deep groove ball bearing 6. A flange cover 5 is rotatably connected to the outer side wall of the low-speed shaft 4. The side wall of the flange cover 5 is fixedly connected to the side wall of the base 1. The bottom end of the pin tooth housing 31 is fixedly connected to the base 1. The outer side wall of the outer ring 731 is rotatably connected to the inner side wall of the positioning hole 822. One end of the high-speed shaft 2 is connected to the output end of the motor. After the motor drives the high-speed shaft 2 to rotate at high speed, the high-speed shaft 2 drives the eccentric shaft assembly 81 to rotate at high speed. This causes the eccentric shaft assembly 81 to drive the two balance wheel assemblies 82 to rotate eccentrically. This causes the eccentric belt movable component 73 of the two balance wheel assemblies 82 to rotate. This causes the movable component 73 to drive the rotating disk 71 to rotate. This causes the rotating disk 71 to drive the deep groove ball bearing 6 to rotate. This causes the deep groove ball bearing 6 to drive the low-speed shaft 4 to rotate, thus achieving the effect of deceleration.

[0046] The usage and working principle of this device are as follows: When installing the shaft pin mechanism 7 and the balance wheel mechanism 8, the positioning component 72 is sleeved on the two positioning holes 822. The arc-shaped locking block 734 is pressed against the slide groove 723. The arc-shaped locking block 734 drives the outer ring 731 to move towards the center of the positioning hole 822, so that the eccentric positioning hole 822 no longer limits the movable component 73. The arc-shaped locking block 734 slides to the position of the positioning groove 725. Under the action of the spring 735, the outer ring 731 moves again to the inner ring 733 concentrically, so that the movable component 73 overlaps with the positioning hole 822, which improves the portability of assembling the movable component 73 and the balance wheel assembly 82.

[0047] When disassembling the shaft pin mechanism 7 and the balance wheel mechanism 8, the two side sealing plates 732 are rotated in the opposite direction. The side sealing plates 732 drive the rotating rod 738 to rotate, the rotating rod 738 drives the connecting rod 736 to rotate, and the connecting rod 736 drives the arc-shaped locking block 734 to rotate. After rotating a certain angle, the arc surface of the arc-shaped locking block 734 is opposite to the positioning groove 725, so that the arc-shaped locking block 734 slides out to the outside of the slide groove 723, which improves the portability of disassembling the movable component 73.

[0048] When the reducer is in operation, the motor drives the high-speed shaft 2 to rotate at high speed. The high-speed shaft 2 then drives the eccentric shaft assembly 81 to rotate at high speed. The eccentric shaft assembly 81 drives the two balance wheel assemblies 82 to rotate eccentrically. The eccentric belt of the two balance wheel assemblies 82 rotates the movable assembly 73, which in turn drives the rotating disk 71 to rotate. The rotating disk 71 drives the deep groove ball bearing 6 to rotate, and the deep groove ball bearing 6 drives the low-speed shaft 4 to rotate at low speed, thus achieving the deceleration effect.

[0049] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A heavy-duty double-crank cycloidal pinwheel robot reducer, comprising a base (1), a high-speed shaft (2), and a low-speed shaft (4), characterized in that: A protective mechanism (3) is provided above the top of the base (1). The protective mechanism (3) includes a needle tooth shell (31). A balance wheel mechanism (8) is provided on the inner side wall of the needle tooth shell (31). A shaft pin mechanism (7) is provided on the side wall of the needle tooth shell (31). The shaft pin mechanism (7) includes a rotating disk (71). The outer side wall of the rotating disk (71) is rotatably connected to the needle tooth shell (31). A plurality of positioning components (72) are provided on the side of the rotating disk (71). Two movable components (73) are slidably sleeved on the outer side wall of each positioning component (72). The positioning component (72) includes a positioning rod (721). Slide grooves (723) are provided on the outer side walls of both ends of the positioning rod (721). A positioning groove (725) is provided at one end of the positioning rod (721) located in the slide groove (723). The movable component (73) includes an inner ring (733), an outer ring (731) is provided on the outside of the inner ring (733), a spring (735) is fixedly connected between the inner wall of the outer ring (731) and the outer wall of the inner ring (733), a connecting rod (736) is rotatably connected to the inner wall of the outer ring (731), one end of the connecting rod (736) passes through the inner wall of the inner ring (733) and is fixedly connected to an arc-shaped locking block (734), the arc-shaped locking block (734) is slidably connected to the inner wall of the slide groove (723), and side sealing plates (732) are rotatably connected to both outer walls of the outer ring (731). The balance wheel mechanism (8) includes an eccentric shaft assembly (81), and two balance wheel assemblies (82) are provided on the outer side wall of the eccentric shaft assembly (81). Each balance wheel assembly (82) includes a crank pinwheel (821), and the side wall of the crank pinwheel (821) is provided with a positioning hole (822). A rotation hole (823) is provided at the center of the side wall of the crank pinwheel (821). A cover (83) is fixedly connected to the side wall of the crank pinwheel (821). An installation assembly (84) is provided inside (821). The installation assembly (84) includes a threaded cylinder (841). One side of the threaded cylinder (841) is fixedly connected to the crank pinwheel (821). A countersunk screw (842) is threaded onto the inner wall of the threaded cylinder (841). The cover (83) is fixedly connected to the crank pinwheel (821) by the countersunk screw (842). A connecting assembly is provided between the two balance wheel assemblies (82). (85), the connecting assembly (85) includes a double-ended lead screw (852), both ends of which are threadedly connected to a threaded platform (851). The inner sidewall of the threaded platform (851) is rotatably connected to a second limiting ring (854), and the outer sidewall of the threaded platform (851) is rotatably connected to a first limiting ring (853). Both the second limiting ring (854) and the first limiting ring (853) are fixedly connected to the cover (83). The eccentric... The shaft assembly (81) includes a first inner pin (811), a second inner pin (812) is fixedly connected to the side wall of the first inner pin (811), a first outer wheel (813) is rotatably connected between the first inner pin (811) and the rotating hole (823), and a second outer wheel (814) is rotatably connected between the second inner pin (812) and the rotating hole (823). One end of the high-speed shaft (2) passes through the side wall of the needle tooth housing (31) and is rotatably connected to the first inner pin (811). The high-speed shaft (2) drives the eccentric shaft assembly (81) to rotate at high speed. The eccentric shaft assembly (81) drives the two balance wheel assemblies (82) to rotate eccentrically. The eccentric belt of the two balance wheel assemblies (82) drives the movable assembly (73) to rotate, so that the movable assembly (73) drives the rotating disk (71) to rotate. The rotating disk (71) drives the deep groove ball bearing (6) to rotate. The deep groove ball bearing (6) drives the low-speed shaft (4) to rotate at low speed.

2. The heavy-duty double-crank cycloidal pinwheel robot reducer according to claim 1, characterized in that: One end of the positioning rod (721) is provided with a connecting screw hole (726), and the inner side wall of the connecting screw hole (726) is threaded with a positioning pin (724). One end of the positioning pin (724) is fixedly connected with a positioning cover (722), and the side wall of the positioning cover (722) is fixedly connected to the side wall of the rotating disk (71).

3. The heavy-duty double-crank cycloidal pinwheel robot reducer according to claim 1, characterized in that: The inner wall of the needle tooth shell (31) is provided with a circular groove (32), and the inner wall of the circular groove (32) is fixedly connected with a limiting post (33). The outer circle of the crank pinwheel (821) is recessed inward to form a plum blossom-shaped structure.

4. The heavy-duty double-crank cycloidal pinwheel robot reducer according to claim 1, characterized in that: The inner walls of the two side sealing plates (732) are fixedly connected with connecting seats (737), and a rotating rod (738) is fixedly connected between the inner walls of the two connecting seats (737). The outer wall of the rotating rod (738) is fixedly connected to the outer wall of the connecting rod (736). A damper (739) is provided inside the spring (735).

5. A heavy-duty double-crank cycloidal pinwheel robot reducer according to claim 1, characterized in that: A deep groove ball bearing (6) is fixedly connected to the side wall of the rotating disk (71). A low-speed shaft (4) is fixedly connected to the inner side wall of the deep groove ball bearing (6). A flange cover (5) is rotatably connected to the outer side wall of the low-speed shaft (4). The side wall of the flange cover (5) is fixedly connected to the side wall of the machine base (1). The bottom end of the needle tooth shell (31) is fixedly connected to the machine base (1). The outer side wall of the outer ring (731) is rotatably connected to the inner side wall of the positioning hole (822).

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